If it doesn't look crudded up with good light and magnification, you can probably use ATF (auto transmission fluid that is also plastics compatible) such as Dextron III. Any time you lube an engine, the idea is that less is more. Don't use a dropper or some other item to make the lube drip into place. Instead, taking a darning needle and clip off the top half of the eye. Leave two longish tines with the closing portion of the loop at the tip nipped off. Dip this appendage into a small drop of ATF and then insert that laden tip into the space behind the drivers, where the axle goes through the bushings, and also touch the needle to any hinged links on the valve gear.
Inside the engine will be a worm gear and a spur, meshed. If you can remove a couple of mounting screws under the boiler (invert the engine and look for screw heads unrelated to the two trucks), you should be able to get at the main drive. Use paint thinner or a solvent on a Q-Tip to clean up the old grease, dry off the gears quickly and thoroughly with a clean cloth so that the solvent doesn't have time to do any lasting damage to the plastic gears, and then use a plastic compatible white grease. Hobby stores will carry it. In fact, you can use the same Dextron III if you wish...it's great as a lubricant on gears, but I would defer to grease if it were available.
-Crandell